ros语音识别：pocketsphinx_continuous工作正常而gst-pocketsphinx不能识别相同语音的问题。

    
     ROS语音识别代码学习：http://cmusphinx.sourceforge.net/wiki/gstreamer
    将cmusphinx语音识别的功能和方法掌握之后，需要将其在ros中使用起来，没想到中间也也到了不少问题。
替换hmm参数的方法：
        self.pipeline = gst.parse_launch('gconfaudiosrc ! audioconvert ! audioresample '
                                         + '! vader name=vad auto_threshold=true '
                                         + '! pocketsphinx hmm=tds_sc_8kadapt lm=robot.lm.dmp dict=robot.dic name=asr ! fakesink')
或根据英文文档的方法：
        asr.set_property('lm', '/home/user/mylanguagemodel.lm')
        asr.set_property('dict', '/home/user/mylanguagemodel.dic')

gstreamer版本说明：
Install a GStreamer version from the official repositories:
  
  
  

   
 gstreamer - Current version.
   
 gstreamer0.10 - Legacy but widely used version.
  
To make GStreamer useful, install the plugins packages you require.
Current version plugins
  
  
  

   
 gst-libav - Libav-based plugin containing many decoders and encoders.
   
 gst-plugins-bad - Plugins that need more quality, testing or documentation.